Real-Time Driver Model for RT-Socket-CAN, CAN device profile header. More...

Include dependency graph for rtcan.h:

Data Structures
struct	can_bittime_std
	Standard bit-time parameters according to Bosch. More...

struct	can_bittime_btr
	Hardware-specific BTR bit-times. More...

struct	can_bittime
	Custom CAN bit-time definition. More...

struct	can_filter
	Filter for reception of CAN messages. More...

struct	sockaddr_can
	Socket address structure for the CAN address family. More...

struct	can_frame
	Raw CAN frame. More...

Macros
#define	AF_CAN 29
	CAN address family.

#define	PF_CAN AF_CAN
	CAN protocol family.

#define	SOL_CAN_RAW 103
	CAN socket levels. More...

CAN ID masks
Bit masks for masking CAN IDs
#define	CAN_EFF_MASK 0x1FFFFFFF
	Bit mask for extended CAN IDs.

#define	CAN_SFF_MASK 0x000007FF
	Bit mask for standard CAN IDs.

CAN ID flags
Flags within a CAN ID indicating special CAN frame attributes
#define	CAN_EFF_FLAG 0x80000000
	Extended frame.

#define	CAN_RTR_FLAG 0x40000000
	Remote transmission frame.

#define	CAN_ERR_FLAG 0x20000000
	Error frame (see Errors), not valid in struct can_filter.

#define	CAN_INV_FILTER CAN_ERR_FLAG
	Invert CAN filter definition, only valid in struct can_filter.

Particular CAN protocols
Possible protocols for the PF_CAN protocol family Currently only the RAW protocol is supported.
#define	CAN_RAW 1
	Raw protocol of `PF_CAN`, applicable to socket type `SOCK_RAW`.

CAN controller modes
Special CAN controllers modes, which can be or'ed together. Note These modes are hardware-dependent. Please consult the hardware manual of the CAN controller for more detailed information.
#define	CAN_CTRLMODE_LISTENONLY 0x1

#define	CAN_CTRLMODE_LOOPBACK 0x2

#define	CAN_CTRLMODE_3_SAMPLES 0x4

Timestamp switches
Arguments to pass to RTCAN_RTIOC_TAKE_TIMESTAMP
#define	RTCAN_TAKE_NO_TIMESTAMPS 0
	Switch off taking timestamps.

#define	RTCAN_TAKE_TIMESTAMPS 1
	Do take timestamps.

RAW socket options
Setting and getting CAN RAW socket options.
#define	CAN_RAW_FILTER 0x1
	CAN filter definition. More...

#define	CAN_RAW_ERR_FILTER 0x2
	CAN error mask. More...

#define	CAN_RAW_LOOPBACK 0x3
	CAN TX loopback. More...

#define	CAN_RAW_RECV_OWN_MSGS 0x4
	CAN receive own messages. More...

IOCTLs
CAN device IOCTLs
#define	SIOCGIFINDEX defined_by_kernel_header_file
	Get CAN interface index by name. More...

#define	SIOCSCANBAUDRATE _IOW(RTIOC_TYPE_CAN, 0x01, struct ifreq)
	Set baud rate. More...

#define	SIOCGCANBAUDRATE _IOWR(RTIOC_TYPE_CAN, 0x02, struct ifreq)
	Get baud rate. More...

#define	SIOCSCANCUSTOMBITTIME _IOW(RTIOC_TYPE_CAN, 0x03, struct ifreq)
	Set custom bit time parameter. More...

#define	SIOCGCANCUSTOMBITTIME _IOWR(RTIOC_TYPE_CAN, 0x04, struct ifreq)
	Get custum bit-time parameters. More...

#define	SIOCSCANMODE _IOW(RTIOC_TYPE_CAN, 0x05, struct ifreq)
	Set operation mode of CAN controller. More...

#define	SIOCGCANSTATE _IOWR(RTIOC_TYPE_CAN, 0x06, struct ifreq)
	Get current state of CAN controller. More...

#define	SIOCSCANCTRLMODE _IOW(RTIOC_TYPE_CAN, 0x07, struct ifreq)
	Set special controller modes. More...

#define	SIOCGCANCTRLMODE _IOWR(RTIOC_TYPE_CAN, 0x08, struct ifreq)
	Get special controller modes. More...

#define	RTCAN_RTIOC_TAKE_TIMESTAMP _IOW(RTIOC_TYPE_CAN, 0x09, int)
	Enable or disable storing a high precision timestamp upon reception of a CAN frame. More...

#define	RTCAN_RTIOC_RCV_TIMEOUT _IOW(RTIOC_TYPE_CAN, 0x0A, nanosecs_rel_t)
	Specify a reception timeout for a socket. More...

#define	RTCAN_RTIOC_SND_TIMEOUT _IOW(RTIOC_TYPE_CAN, 0x0B, nanosecs_rel_t)
	Specify a transmission timeout for a socket. More...

Error mask
Error class (mask) in `can_id` field of struct can_frame to be used with CAN_RAW_ERR_FILTER. Note: Error reporting is hardware dependent and most CAN controllers report less detailed error conditions than the SJA1000. Note: In case of a bus-off error condition (CAN_ERR_BUSOFF), the CAN controller is not restarted automatically. It is the application's responsibility to react appropriately, e.g. calling CAN_MODE_START. Note: Bus error interrupts (CAN_ERR_BUSERROR) are enabled when an application is calling a Recv function on a socket listening on bus errors (using CAN_RAW_ERR_FILTER). After one bus error has occured, the interrupt will be disabled to allow the application time for error processing and to efficiently avoid bus error interrupt flooding.
#define	CAN_ERR_TX_TIMEOUT 0x00000001U
	TX timeout (netdevice driver)

#define	CAN_ERR_LOSTARB 0x00000002U
	Lost arbitration (see data[0])

#define	CAN_ERR_CRTL 0x00000004U
	Controller problems (see data[1])

#define	CAN_ERR_PROT 0x00000008U
	Protocol violations (see data[2], data[3])

#define	CAN_ERR_TRX 0x00000010U
	Transceiver status (see data[4])

#define	CAN_ERR_ACK 0x00000020U
	Received no ACK on transmission.

#define	CAN_ERR_BUSOFF 0x00000040U
	Bus off.

#define	CAN_ERR_BUSERROR 0x00000080U
	Bus error (may flood!)

#define	CAN_ERR_RESTARTED 0x00000100U
	Controller restarted.

#define	CAN_ERR_MASK 0x1FFFFFFFU
	Omit EFF, RTR, ERR flags.

Arbitration lost error
Error in the data[0] field of struct can_frame.
#define	CAN_ERR_LOSTARB_UNSPEC 0x00
	unspecified More...

Controller problems
Error in the data[1] field of struct can_frame.
#define	CAN_ERR_CRTL_UNSPEC 0x00
	unspecified

#define	CAN_ERR_CRTL_RX_OVERFLOW 0x01
	RX buffer overflow.

#define	CAN_ERR_CRTL_TX_OVERFLOW 0x02
	TX buffer overflow.

#define	CAN_ERR_CRTL_RX_WARNING 0x04
	reached warning level for RX errors

#define	CAN_ERR_CRTL_TX_WARNING 0x08
	reached warning level for TX errors

#define	CAN_ERR_CRTL_RX_PASSIVE 0x10
	reached passive level for RX errors

#define	CAN_ERR_CRTL_TX_PASSIVE 0x20
	reached passive level for TX errors

Protocol error type
Error in the data[2] field of struct can_frame.
#define	CAN_ERR_PROT_UNSPEC 0x00
	unspecified

#define	CAN_ERR_PROT_BIT 0x01
	single bit error

#define	CAN_ERR_PROT_FORM 0x02
	frame format error

#define	CAN_ERR_PROT_STUFF 0x04
	bit stuffing error

#define	CAN_ERR_PROT_BIT0 0x08
	unable to send dominant bit

#define	CAN_ERR_PROT_BIT1 0x10
	unable to send recessive bit

#define	CAN_ERR_PROT_OVERLOAD 0x20
	bus overload

#define	CAN_ERR_PROT_ACTIVE 0x40
	active error announcement

#define	CAN_ERR_PROT_TX 0x80
	error occured on transmission

Protocol error location
Error in the data[4] field of struct can_frame.
#define	CAN_ERR_PROT_LOC_UNSPEC 0x00
	unspecified

#define	CAN_ERR_PROT_LOC_SOF 0x03
	start of frame

#define	CAN_ERR_PROT_LOC_ID28_21 0x02
	ID bits 28 - 21 (SFF: 10 - 3)

#define	CAN_ERR_PROT_LOC_ID20_18 0x06
	ID bits 20 - 18 (SFF: 2 - 0 )

#define	CAN_ERR_PROT_LOC_SRTR 0x04
	substitute RTR (SFF: RTR)

#define	CAN_ERR_PROT_LOC_IDE 0x05
	identifier extension

#define	CAN_ERR_PROT_LOC_ID17_13 0x07
	ID bits 17-13.

#define	CAN_ERR_PROT_LOC_ID12_05 0x0F
	ID bits 12-5.

#define	CAN_ERR_PROT_LOC_ID04_00 0x0E
	ID bits 4-0.

#define	CAN_ERR_PROT_LOC_RTR 0x0C
	RTR.

#define	CAN_ERR_PROT_LOC_RES1 0x0D
	reserved bit 1

#define	CAN_ERR_PROT_LOC_RES0 0x09
	reserved bit 0

#define	CAN_ERR_PROT_LOC_DLC 0x0B
	data length code

#define	CAN_ERR_PROT_LOC_DATA 0x0A
	data section

#define	CAN_ERR_PROT_LOC_CRC_SEQ 0x08
	CRC sequence.

#define	CAN_ERR_PROT_LOC_CRC_DEL 0x18
	CRC delimiter.

#define	CAN_ERR_PROT_LOC_ACK 0x19
	ACK slot.

#define	CAN_ERR_PROT_LOC_ACK_DEL 0x1B
	ACK delimiter.

#define	CAN_ERR_PROT_LOC_EOF 0x1A
	end of frame

#define	CAN_ERR_PROT_LOC_INTERM 0x12
	intermission

#define	CAN_ERR_TRX_UNSPEC 0x00
	0000 0000

#define	CAN_ERR_TRX_CANH_NO_WIRE 0x04
	0000 0100

#define	CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05
	0000 0101

#define	CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06
	0000 0110

#define	CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07
	0000 0111

#define	CAN_ERR_TRX_CANL_NO_WIRE 0x40
	0100 0000

#define	CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50
	0101 0000

#define	CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60
	0110 0000

#define	CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70
	0111 0000

#define	CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80
	1000 0000

Typedefs
typedef uint32_t	can_id_t
	Type of CAN id (see CAN_xxx_MASK and CAN_xxx_FLAG)

typedef can_id_t	can_err_mask_t
	Type of CAN error mask.

typedef uint32_t	can_baudrate_t
	Baudrate definition in bits per second.

typedef enum CAN_BITTIME_TYPE	can_bittime_type_t
	See CAN_BITTIME_TYPE.

typedef enum CAN_MODE	can_mode_t
	See CAN_MODE.

typedef int	can_ctrlmode_t
	See CAN_CTRLMODE.

typedef enum CAN_STATE	can_state_t
	See CAN_STATE.

typedef struct can_filter	can_filter_t
	Filter for reception of CAN messages. More...

typedef struct can_frame	can_frame_t
	Raw CAN frame. More...

Enumerations
enum	CAN_BITTIME_TYPE { CAN_BITTIME_STD, CAN_BITTIME_BTR }
	Supported CAN bit-time types. More...

CAN operation modes
Modes into which CAN controllers can be set
enum	CAN_MODE { CAN_MODE_STOP = 0, CAN_MODE_START, CAN_MODE_SLEEP }

CAN controller states
States a CAN controller can be in.
enum	CAN_STATE { CAN_STATE_ERROR_ACTIVE = 0 , CAN_STATE_ERROR_WARNING = 1 , CAN_STATE_ERROR_PASSIVE = 2 , CAN_STATE_BUS_OFF, CAN_STATE_SCANNING_BAUDRATE, CAN_STATE_STOPPED, CAN_STATE_SLEEPING }

Detailed Description

Real-Time Driver Model for RT-Socket-CAN, CAN device profile header.

Note: Copyright (C) 2006 Wolfgang Grandegger wg@gr.nosp@m.ande.nosp@m.gger..nosp@m.com; Copyright (C) 2005, 2006 Sebastian Smolorz Sebas.nosp@m.tian.nosp@m..Smol.nosp@m.orz@.nosp@m.stud..nosp@m.uni-.nosp@m.hanno.nosp@m.ver..nosp@m.de

This RTDM CAN device profile header is based on:

include/linux/can.h, include/linux/socket.h, net/can/pf_can.h in linux-can.patch, a CAN socket framework for Linux

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

Data Structures

Macros

Typedefs

Enumerations

Detailed Description